船舶液压舵机PD控制及建模仿真设计  

Ship Hydraulic Rudder PD Control and Modeling Simulation Design

作　　者：刘毅 涂志平[2] 孙玉洁[1] 何菲菲 郭乙运 姚文龙[1] LIU Yi;TU Zhi-ping;SUN Yu-jie;HE Fei-fei;GUO Yi-yun;YAO Wen-long(School of Automation and Electrical Engineering,Qingdao University of Science and Technology,Qingdao 26606l9China;Department of Marine Engineering,Qingdao Ocean Shipping Mariners College,Qingdao 266404,China;Qingdao Port International Co.,Ltd,Qingdao 266011,China;College of Information Science and Engineering,Ocean University of China,Qingdao 266104,China)

机构地区：[1]青岛科技大学,山东青岛266061 [2]青岛远洋船员职业学院,山东青岛266404 [3]青岛港国际股份有限公司,山东青岛266011 [4]中国海洋大学,山东青岛266104

出　　处：《青岛远洋船员职业学院学报》2022年第1期1-5,共5页Journal of Qingdao Ocean Shipping Mariners College

基　　金：青岛远洋船员职业学院科研项目(2019-R-001);青岛市自主创新重大专项(21-1-2-14-zhz;21-1-2-16-zhz;20-3-2-2-hy);国家自然科学基金面上项目(62072260)。

摘　　要：为应对船舶舵机系统控制精度和快速性需求的日益提高,本文提出了一种船舶液压舵机PD控制及建模仿真方法。首先,对船舵液压系统进行研究,采用模块化建模方法构建系统数学模型,利用PD控制引入偏差信息对舵角进行实时监控,借助SimHydraulics搭建舵机系统;然后,基于虚拟现实设计系统各模块控件,构建自定义控件库,完成舵机二维仿真软件开发。仿真结果表明:舵机系统数学模型满足SOLAS公约要求,极大地提高了操作系统的精确性,二维交互界面具有良好的可操作性、交互性,实现人机交互与系统仿真,快速地实现了船舵系统的动态模拟。With the increasing demand of control accuracy and speed of ship’s rudder system,this paper proposes a PD control and modeling simulation method of ship’s hydraulic rudder.Firstly,the hydraulic system of the rudder is studied,and the mathematical model of the system is constructed using a modular modeling approach,real-time monitoring of the rudder angle using PD control to introduce deviation information,and construction of the rudder system with the help of SimHydraulics;Secondly,based on the virtual reality design system each module control,build custom control library,complete the steering engine two-dimensional simulation software development.The simulation results show that:the mathematical model of the rudder system meets the requirements of SOLAS convention,greatly improve the accuracy of the operating system,the two-dimensional interactive interface has good operability and interactivity,realizes human-computer interaction and system simulation,and quickly realizes the dynamic simulation of the ship’s rudder system.

关 键 词：船舶舵机 液压系统 数学模型 PD控制 交互 

分 类 号：U664[交通运输工程—船舶及航道工程]